commit 6175066e4d1294c9b2e4e49ea22b3bb7bd7ee41c
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Mon Jun 21 21:32:33 2021 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sun Jun 27 13:50:16 2021 -0700
tree 734cf51117459826d67457d6d35637887f4a8f38
parent eeaaed70bebee707f88cfd9159138e5041948569

Move aos/controls to frc971/control_loops

Also put what was aos/controls/control_loops.fbs in y2012/control_loops
because that's the only user.

Change-Id: I8f402b0708103077e135a41e55ef5e4f23681d87
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2016/control_loops/shooter/BUILD

diff --git a/y2016/control_loops/shooter/BUILD b/y2016/control_loops/shooter/BUILD
index a6cf134..6cae6fa 100644
--- a/y2016/control_loops/shooter/BUILD
+++ b/y2016/control_loops/shooter/BUILD
@@ -85,7 +85,7 @@
         ":shooter_plants",
         ":shooter_position_fbs",
         ":shooter_status_fbs",
-        "//aos/controls:control_loop",
+        "//frc971/control_loops:control_loop",
     ],
 )
 
@@ -102,7 +102,7 @@
         ":shooter_output_fbs",
         ":shooter_position_fbs",
         ":shooter_status_fbs",
-        "//aos/controls:control_loop_test",
+        "//frc971/control_loops:control_loop_test",
         "//aos/testing:googletest",
         "//frc971/control_loops:state_feedback_loop",
         "//frc971/control_loops:team_number_test_environment",

y2016/control_loops/shooter/shooter.cc

diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 5156a61..8b719c3 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -56,7 +56,7 @@
   // Compute the distance moved over that time period.
   const double avg_angular_velocity =
       (history_[oldest_history_position] - history_[history_position_]) /
-      (::aos::time::DurationInSeconds(::aos::controls::kLoopFrequency) *
+      (::aos::time::DurationInSeconds(::frc971::controls::kLoopFrequency) *
        static_cast<double>(kHistoryLength - 1));
   shooter_side_status_builder.add_avg_angular_velocity(avg_angular_velocity);
 
@@ -71,8 +71,8 @@
 }
 
 Shooter::Shooter(::aos::EventLoop *event_loop, const ::std::string &name)
-    : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
-                                                                 name),
+    : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+                                                                    name),
       shots_(0),
       last_pre_shot_timeout_(::aos::monotonic_clock::min_time) {}
 

y2016/control_loops/shooter/shooter.h

diff --git a/y2016/control_loops/shooter/shooter.h b/y2016/control_loops/shooter/shooter.h
index 07fee84..c29869c 100644
--- a/y2016/control_loops/shooter/shooter.h
+++ b/y2016/control_loops/shooter/shooter.h
@@ -3,7 +3,7 @@
 
 #include <memory>
 
-#include "aos/controls/control_loop.h"
+#include "frc971/control_loops/control_loop.h"
 #include "aos/events/event_loop.h"
 #include "aos/time/time.h"
 #include "frc971/control_loops/state_feedback_loop.h"
@@ -58,7 +58,7 @@
 };
 
 class Shooter
-    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
+    : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
   explicit Shooter(::aos::EventLoop *event_loop,
                    const ::std::string &name = "/shooter");

y2016/control_loops/shooter/shooter_lib_test.cc

diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index c20526c..6934a75 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -1,11 +1,9 @@
-#include "y2016/control_loops/shooter/shooter.h"
-
 #include <unistd.h>
 
 #include <chrono>
 #include <memory>
 
-#include "aos/controls/control_loop_test.h"
+#include "frc971/control_loops/control_loop_test.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
 #include "y2016/control_loops/shooter/shooter.h"
@@ -44,7 +42,6 @@
   double voltage_offset_ = 0.0;
 };
 
-
 // Class which simulates the shooter and sends out queue messages with the
 // position.
 class ShooterSimulation {
@@ -116,10 +113,10 @@
   bool first_ = true;
 };
 
-class ShooterTest : public ::aos::testing::ControlLoopTest {
+class ShooterTest : public ::frc971::testing::ControlLoopTest {
  protected:
   ShooterTest()
-      : ::aos::testing::ControlLoopTest(
+      : ::frc971::testing::ControlLoopTest(
             aos::configuration::ReadConfig("y2016/config.json"),
             chrono::microseconds(5000)),
         test_event_loop_(MakeEventLoop("test")),